Program Listing for File trajectory_motion.hpp
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// Copyright 2023 Universidad Politécnica de Madrid
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/*!*******************************************************************************************
* \file trajectory_motion.hpp
* \brief this file contains the implementation of the TrajectoryMotion class
* \authors Miguel Fernández Cortizas
* Pedro Arias Pérez
* David Pérez Saura
* Rafael Pérez Seguí
********************************************************************************/
#ifndef AS2_MOTION_REFERENCE_HANDLERS__TRAJECTORY_MOTION_HPP_
#define AS2_MOTION_REFERENCE_HANDLERS__TRAJECTORY_MOTION_HPP_
#include <Eigen/Dense>
#include <string>
#include <vector>
#include "as2_core/node.hpp"
#include "as2_motion_reference_handlers/basic_motion_references.hpp"
namespace as2
{
namespace motionReferenceHandlers
{
class TrajectoryMotion : public as2::motionReferenceHandlers::BasicMotionReferenceHandler
{
public:
explicit TrajectoryMotion(as2::Node * node_ptr, const std::string & ns = "");
~TrajectoryMotion()
{
}
public:
bool sendTrajectoryCommandWithYawAngle(
const std::string & frame_id,
const double x,
const double y,
const double z,
const double yaw_angle,
const double vx,
const double vy,
const double vz,
const double ax,
const double ay,
const double az);
bool sendTrajectoryCommandWithYawAngle(
const std::string & frame_id,
const double yaw_angle,
const std::vector<double> & positions,
const std::vector<double> & velocities,
const std::vector<double> & accelerations);
bool sendTrajectoryCommandWithYawAngle(
const std::string & frame_id,
const double yaw_angle,
const Eigen::Vector3d & positions,
const Eigen::Vector3d & velocities,
const Eigen::Vector3d & accelerations);
};
} // namespace motionReferenceHandlers
} // namespace as2
#endif // AS2_MOTION_REFERENCE_HANDLERS__TRAJECTORY_MOTION_HPP_